Determination of vehicle collision potential based on intersection scene

A system to determine collision potential for a vehicle, the system comprising:

• one or more sensors of the vehicle configured to detect areas outside the vehicle;
• and
• a processor configured to identify a specific intersection that the vehicle is approaching, to determine an intention of a driver of the vehicle to traverse a specific path through the specific intersection, to identify an obstructed portion of a relevant area for the specific path of the vehicle through the specific intersection, wherein an object travelling within the relevant area will intersect with the specific path of the vehicle and one or more sensors of the vehicle are blocked from detections in the obstructed portion of the relevant area, and to provide an alert or to implement actions based on the obstructed portion of the relevant area.